2 losse EMG signalen van de biceps en deltoid
Dependencies: HIDScope MODSERIAL mbed-dsp mbed Encoder
Fork of Lampje_EMG_Gr6 by
main.cpp@34:7e0bf3e9f135, 2014-11-04 (annotated)
- Committer:
- irisl
- Date:
- Tue Nov 04 08:39:49 2014 +0000
- Revision:
- 34:7e0bf3e9f135
- Parent:
- 33:381bc6635528
- Child:
- 35:72d6cd2b2162
waarde aangepast
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jessekaiser | 0:db396b9f4b4c | 1 | #include "mbed.h" |
jessekaiser | 0:db396b9f4b4c | 2 | #include "HIDScope.h" |
jessekaiser | 0:db396b9f4b4c | 3 | #include "arm_math.h" |
jessekaiser | 0:db396b9f4b4c | 4 | #include "MODSERIAL.h" |
irisl | 20:d40b6cba4280 | 5 | #include "encoder.h" |
irisl | 21:674fafb6301d | 6 | #include "PwmOut.h" |
jessekaiser | 0:db396b9f4b4c | 7 | |
irisl | 21:674fafb6301d | 8 | #define TSAMP 0.005 |
irisl | 33:381bc6635528 | 9 | #define K_P1 (3.5) |
irisl | 33:381bc6635528 | 10 | #define K_I1 (0.01) |
irisl | 33:381bc6635528 | 11 | #define K_P2 (3.5) |
irisl | 33:381bc6635528 | 12 | #define K_I2 (0.01) |
irisl | 20:d40b6cba4280 | 13 | #define I_LIMIT 1. |
irisl | 21:674fafb6301d | 14 | #define l_arm 0.5 |
irisl | 20:d40b6cba4280 | 15 | |
irisl | 20:d40b6cba4280 | 16 | #define M1_PWM PTC8 |
irisl | 20:d40b6cba4280 | 17 | #define M1_DIR PTC9 |
irisl | 20:d40b6cba4280 | 18 | #define M2_PWM PTA5 |
irisl | 20:d40b6cba4280 | 19 | #define M2_DIR PTA4 |
irisl | 20:d40b6cba4280 | 20 | |
irisl | 20:d40b6cba4280 | 21 | //Groene kabel moet op de GROUND en blauw op de 3.3v aansluiting |
jessekaiser | 32:e35bedc7cefd | 22 | |
irisl | 28:c33a0658605e | 23 | // Define objects |
irisl | 20:d40b6cba4280 | 24 | Serial pc(USBTX, USBRX); |
irisl | 20:d40b6cba4280 | 25 | |
irisl | 28:c33a0658605e | 26 | // LED |
irisl | 21:674fafb6301d | 27 | DigitalOut myledred(PTB3); |
irisl | 21:674fafb6301d | 28 | DigitalOut myledgreen(PTB1); |
irisl | 21:674fafb6301d | 29 | DigitalOut myledblue(PTB2); |
jessekaiser | 0:db396b9f4b4c | 30 | |
irisl | 28:c33a0658605e | 31 | //EMG |
irisl | 21:674fafb6301d | 32 | AnalogIn emg0(PTB0); //Analog input |
irisl | 21:674fafb6301d | 33 | AnalogIn emg1(PTC2); //Analog input |
irisl | 33:381bc6635528 | 34 | HIDScope scope(3); |
jessekaiser | 0:db396b9f4b4c | 35 | |
jessekaiser | 29:d0dab8921e9d | 36 | //motor1 25D |
irisl | 21:674fafb6301d | 37 | Encoder motor1(PTD3,PTD5); //wit, geel |
irisl | 20:d40b6cba4280 | 38 | PwmOut pwm_motor1(M2_PWM); |
irisl | 20:d40b6cba4280 | 39 | DigitalOut motordir1(M2_DIR); |
irisl | 20:d40b6cba4280 | 40 | |
irisl | 20:d40b6cba4280 | 41 | //motor2 37D |
irisl | 21:674fafb6301d | 42 | Encoder motor2(PTD2, PTD0); //wit, geel |
irisl | 20:d40b6cba4280 | 43 | PwmOut pwm_motor2(M1_PWM); |
irisl | 20:d40b6cba4280 | 44 | DigitalOut motordir2(M1_DIR); |
irisl | 20:d40b6cba4280 | 45 | |
irisl | 28:c33a0658605e | 46 | // Motor variabelen |
jessekaiser | 29:d0dab8921e9d | 47 | float pwm_out1 = 0; |
jessekaiser | 29:d0dab8921e9d | 48 | float pwm_out2 = 0; |
irisl | 21:674fafb6301d | 49 | int cur_pos_motor1; |
irisl | 21:674fafb6301d | 50 | int prev_pos_motor1 = 0; |
irisl | 21:674fafb6301d | 51 | int cur_pos_motor2; |
irisl | 21:674fafb6301d | 52 | int prev_pos_motor2 = 0; |
irisl | 21:674fafb6301d | 53 | float speed1_rad; |
irisl | 21:674fafb6301d | 54 | float speed2_rad; |
irisl | 21:674fafb6301d | 55 | float pos_motor1_rad; |
irisl | 21:674fafb6301d | 56 | float pos_motor2_rad; |
irisl | 21:674fafb6301d | 57 | int staat1 = 0; |
irisl | 21:674fafb6301d | 58 | int staat2 = 0; |
irisl | 22:14f5161d7d7b | 59 | volatile float arm_hoogte = 0; |
irisl | 22:14f5161d7d7b | 60 | volatile float batje_hoek = 0; |
irisl | 21:674fafb6301d | 61 | int wait_iterator1 = 0; |
irisl | 21:674fafb6301d | 62 | int wait_iterator2 = 0; |
irisl | 20:d40b6cba4280 | 63 | |
irisl | 20:d40b6cba4280 | 64 | |
irisl | 28:c33a0658605e | 65 | // EMG Filters (settings en variabelen) |
irisl | 20:d40b6cba4280 | 66 | |
irisl | 28:c33a0658605e | 67 | // Filters |
irisl | 9:f7ec578a17c0 | 68 | arm_biquad_casd_df1_inst_f32 lowpass_biceps; |
irisl | 9:f7ec578a17c0 | 69 | arm_biquad_casd_df1_inst_f32 lowpass_deltoid; |
irisl | 26:9859a71456fd | 70 | //lowpass filter settings: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB |
irisl | 26:9859a71456fd | 71 | float lowpass_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751}; |
jessekaiser | 0:db396b9f4b4c | 72 | //state values |
irisl | 9:f7ec578a17c0 | 73 | float lowpass_biceps_states[4]; |
irisl | 9:f7ec578a17c0 | 74 | float lowpass_deltoid_states[4]; |
irisl | 9:f7ec578a17c0 | 75 | arm_biquad_casd_df1_inst_f32 highnotch_biceps; |
irisl | 9:f7ec578a17c0 | 76 | arm_biquad_casd_df1_inst_f32 highnotch_deltoid; |
irisl | 27:691779624530 | 77 | //highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB |
irisl | 26:9859a71456fd | 78 | float highnotch_const[] = {0.9149684297741606, -1.8299368595483212, 0.9149684297741606, 1.8226935021735358, -0.8371802169231065 ,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533}; |
jessekaiser | 0:db396b9f4b4c | 79 | //state values |
irisl | 9:f7ec578a17c0 | 80 | float highnotch_biceps_states[8]; |
irisl | 9:f7ec578a17c0 | 81 | float highnotch_deltoid_states[8]; |
jessekaiser | 2:39e1bde54e73 | 82 | |
jessekaiser | 2:39e1bde54e73 | 83 | //De globale variabele voor het gefilterde EMG signaal |
jessekaiser | 2:39e1bde54e73 | 84 | float filtered_biceps; |
jessekaiser | 2:39e1bde54e73 | 85 | float filtered_deltoid; |
irisl | 12:9e6e49af9304 | 86 | float filtered_average_bi; |
irisl | 12:9e6e49af9304 | 87 | float filtered_average_del; |
jessekaiser | 0:db396b9f4b4c | 88 | |
jessekaiser | 29:d0dab8921e9d | 89 | //gemiddelde EMG waarden over 250 sample stappen |
irisl | 12:9e6e49af9304 | 90 | void average_biceps(float filtered_biceps,float *average) |
irisl | 12:9e6e49af9304 | 91 | { |
irisl | 12:9e6e49af9304 | 92 | static float total=0; |
irisl | 12:9e6e49af9304 | 93 | static float number=0; |
irisl | 12:9e6e49af9304 | 94 | total = total + filtered_biceps; |
irisl | 12:9e6e49af9304 | 95 | number = number + 1; |
irisl | 26:9859a71456fd | 96 | if ( number == 250) { |
irisl | 26:9859a71456fd | 97 | *average = total/250; |
irisl | 12:9e6e49af9304 | 98 | total = 0; |
irisl | 12:9e6e49af9304 | 99 | number = 0; |
irisl | 12:9e6e49af9304 | 100 | } |
irisl | 12:9e6e49af9304 | 101 | } |
irisl | 12:9e6e49af9304 | 102 | |
irisl | 12:9e6e49af9304 | 103 | void average_deltoid(float filtered_input,float *average_output) |
irisl | 12:9e6e49af9304 | 104 | { |
irisl | 12:9e6e49af9304 | 105 | static float total=0; |
irisl | 12:9e6e49af9304 | 106 | static float number=0; |
irisl | 12:9e6e49af9304 | 107 | total = total + filtered_input; |
irisl | 12:9e6e49af9304 | 108 | number = number + 1; |
irisl | 26:9859a71456fd | 109 | if ( number == 250) { |
irisl | 26:9859a71456fd | 110 | *average_output = total/250; |
irisl | 12:9e6e49af9304 | 111 | total = 0; |
irisl | 12:9e6e49af9304 | 112 | number = 0; |
irisl | 12:9e6e49af9304 | 113 | } |
irisl | 12:9e6e49af9304 | 114 | } |
irisl | 12:9e6e49af9304 | 115 | |
irisl | 28:c33a0658605e | 116 | // EMG looper |
jessekaiser | 0:db396b9f4b4c | 117 | void looper() |
jessekaiser | 0:db396b9f4b4c | 118 | { |
jessekaiser | 1:099b19376f16 | 119 | /*variable to store value in*/ |
jessekaiser | 2:39e1bde54e73 | 120 | uint16_t emg_value1; |
jessekaiser | 3:0895fa0a6ca4 | 121 | uint16_t emg_value2; |
jessekaiser | 1:099b19376f16 | 122 | |
jessekaiser | 2:39e1bde54e73 | 123 | float emg_value1_f32; |
jessekaiser | 2:39e1bde54e73 | 124 | float emg_value2_f32; |
jessekaiser | 0:db396b9f4b4c | 125 | /*put raw emg value both in red and in emg_value*/ |
jessekaiser | 2:39e1bde54e73 | 126 | emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V) |
jessekaiser | 2:39e1bde54e73 | 127 | emg_value1_f32 = emg0.read(); |
jessekaiser | 3:0895fa0a6ca4 | 128 | |
jessekaiser | 2:39e1bde54e73 | 129 | emg_value2 = emg1.read_u16(); |
jessekaiser | 2:39e1bde54e73 | 130 | emg_value2_f32 = emg1.read(); |
jessekaiser | 0:db396b9f4b4c | 131 | |
jessekaiser | 2:39e1bde54e73 | 132 | //process emg biceps |
irisl | 9:f7ec578a17c0 | 133 | arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); |
jessekaiser | 2:39e1bde54e73 | 134 | filtered_biceps = fabs(filtered_biceps); |
irisl | 9:f7ec578a17c0 | 135 | arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); |
irisl | 12:9e6e49af9304 | 136 | average_biceps(filtered_biceps,&filtered_average_bi); |
jessekaiser | 2:39e1bde54e73 | 137 | //process emg deltoid |
irisl | 9:f7ec578a17c0 | 138 | arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value2_f32, &filtered_deltoid, 1 ); |
jessekaiser | 3:0895fa0a6ca4 | 139 | filtered_deltoid = fabs(filtered_deltoid); |
irisl | 9:f7ec578a17c0 | 140 | arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 ); |
irisl | 12:9e6e49af9304 | 141 | average_deltoid(filtered_deltoid, &filtered_average_del); |
jessekaiser | 1:099b19376f16 | 142 | |
jessekaiser | 0:db396b9f4b4c | 143 | /*send value to PC. */ |
irisl | 33:381bc6635528 | 144 | scope.set(0,emg_value1); //Raw EMG signal biceps |
irisl | 9:f7ec578a17c0 | 145 | //scope.set(1,emg_value2); //Raw EMG signal Deltoid |
irisl | 33:381bc6635528 | 146 | scope.set(1,filtered_biceps); //processed float biceps |
irisl | 33:381bc6635528 | 147 | scope.set(2,filtered_average_bi); //processed float deltoid |
irisl | 33:381bc6635528 | 148 | //scope.set(2,filtered_deltoid); //processed float biceps |
irisl | 33:381bc6635528 | 149 | //scope.set(3,filtered_average_del); //processed float deltoid |
jessekaiser | 0:db396b9f4b4c | 150 | scope.send(); |
jessekaiser | 0:db396b9f4b4c | 151 | |
jessekaiser | 0:db396b9f4b4c | 152 | } |
jessekaiser | 0:db396b9f4b4c | 153 | |
irisl | 16:d65458b85734 | 154 | // LED AANSTURING |
irisl | 16:d65458b85734 | 155 | |
jessekaiser | 0:db396b9f4b4c | 156 | void BlinkRed(int n) |
jessekaiser | 0:db396b9f4b4c | 157 | { |
jessekaiser | 0:db396b9f4b4c | 158 | for (int i=0; i<n; i++) { |
irisl | 21:674fafb6301d | 159 | myledred = 0; |
irisl | 21:674fafb6301d | 160 | myledgreen = 0; |
irisl | 21:674fafb6301d | 161 | myledblue = 0; |
jessekaiser | 3:0895fa0a6ca4 | 162 | wait(0.1); |
irisl | 21:674fafb6301d | 163 | myledred = 1; |
irisl | 21:674fafb6301d | 164 | myledgreen = 0; |
irisl | 21:674fafb6301d | 165 | myledblue = 0; |
jessekaiser | 3:0895fa0a6ca4 | 166 | wait(0.1); |
jessekaiser | 0:db396b9f4b4c | 167 | } |
jessekaiser | 0:db396b9f4b4c | 168 | } |
jessekaiser | 0:db396b9f4b4c | 169 | |
irisl | 28:c33a0658605e | 170 | // Ticker voor groen knipperen, zodat tijdens dit knipperen presets gekozen kunnen worden |
irisl | 28:c33a0658605e | 171 | Ticker ledticker; |
irisl | 28:c33a0658605e | 172 | |
irisl | 17:dbbe4e126203 | 173 | void greenblink() |
irisl | 16:d65458b85734 | 174 | { |
irisl | 21:674fafb6301d | 175 | if(myledgreen.read()) |
irisl | 21:674fafb6301d | 176 | myledgreen = 0; |
irisl | 16:d65458b85734 | 177 | else |
irisl | 21:674fafb6301d | 178 | myledgreen = 1; |
irisl | 16:d65458b85734 | 179 | } |
irisl | 16:d65458b85734 | 180 | |
irisl | 17:dbbe4e126203 | 181 | void BlinkGreen() |
irisl | 18:ed2afe6953de | 182 | { |
irisl | 21:674fafb6301d | 183 | myledred= 0; |
irisl | 21:674fafb6301d | 184 | myledblue =0; |
irisl | 18:ed2afe6953de | 185 | ledticker.attach(&greenblink,.5); |
irisl | 16:d65458b85734 | 186 | } |
irisl | 16:d65458b85734 | 187 | |
irisl | 18:ed2afe6953de | 188 | void stopblinkgreen() |
irisl | 16:d65458b85734 | 189 | { |
irisl | 16:d65458b85734 | 190 | ledticker.detach(); |
irisl | 16:d65458b85734 | 191 | } |
irisl | 16:d65458b85734 | 192 | |
irisl | 28:c33a0658605e | 193 | // Groen schijnen |
irisl | 13:493a953a2a85 | 194 | void ShineGreen () |
irisl | 13:493a953a2a85 | 195 | { |
irisl | 21:674fafb6301d | 196 | myledred = 0; |
irisl | 21:674fafb6301d | 197 | myledgreen = 1; |
irisl | 21:674fafb6301d | 198 | myledblue = 0; |
irisl | 13:493a953a2a85 | 199 | } |
irisl | 13:493a953a2a85 | 200 | |
irisl | 28:c33a0658605e | 201 | // Blauw schijnen |
irisl | 13:493a953a2a85 | 202 | void ShineBlue () |
irisl | 13:493a953a2a85 | 203 | { |
irisl | 21:674fafb6301d | 204 | myledred = 0; |
irisl | 21:674fafb6301d | 205 | myledgreen = 0; |
irisl | 21:674fafb6301d | 206 | myledblue = 1; |
irisl | 13:493a953a2a85 | 207 | } |
irisl | 13:493a953a2a85 | 208 | |
irisl | 28:c33a0658605e | 209 | // Rood schijnen |
irisl | 13:493a953a2a85 | 210 | void ShineRed () |
irisl | 13:493a953a2a85 | 211 | { |
irisl | 21:674fafb6301d | 212 | myledred = 1; |
irisl | 21:674fafb6301d | 213 | myledgreen = 0; |
irisl | 21:674fafb6301d | 214 | myledblue = 0; |
irisl | 13:493a953a2a85 | 215 | } |
irisl | 13:493a953a2a85 | 216 | |
irisl | 20:d40b6cba4280 | 217 | // MOTORFUNCTIES |
irisl | 20:d40b6cba4280 | 218 | |
irisl | 28:c33a0658605e | 219 | // Motor1 = batje |
irisl | 28:c33a0658605e | 220 | // Motor2 = arm |
irisl | 28:c33a0658605e | 221 | |
jessekaiser | 29:d0dab8921e9d | 222 | void clamp(float* in, float min, float max) //Clamp geeft een maximum en minimum limiet aan een functie |
irisl | 21:674fafb6301d | 223 | { |
jessekaiser | 29:d0dab8921e9d | 224 | *in > min ? /*(*/*in < max? : *in = max : *in = min; |
irisl | 21:674fafb6301d | 225 | } |
irisl | 21:674fafb6301d | 226 | |
irisl | 28:c33a0658605e | 227 | // PI-regelaar motor1: batje |
irisl | 21:674fafb6301d | 228 | float pid1(float setpoint1, float measurement1) |
irisl | 20:d40b6cba4280 | 229 | { |
irisl | 21:674fafb6301d | 230 | float error1; |
irisl | 21:674fafb6301d | 231 | float out_p1 = 0; |
irisl | 21:674fafb6301d | 232 | static float out_i1 = 0; |
irisl | 21:674fafb6301d | 233 | error1 = (setpoint1 - measurement1); |
irisl | 21:674fafb6301d | 234 | out_p1 = error1*K_P1; |
irisl | 21:674fafb6301d | 235 | out_i1 += error1*K_I1; |
irisl | 21:674fafb6301d | 236 | clamp(&out_i1,-I_LIMIT,I_LIMIT); |
irisl | 21:674fafb6301d | 237 | return out_p1 + out_i1; |
irisl | 20:d40b6cba4280 | 238 | } |
irisl | 20:d40b6cba4280 | 239 | |
irisl | 28:c33a0658605e | 240 | // PI-regelaar motor2: arm |
irisl | 21:674fafb6301d | 241 | float pid2(float setpoint2, float measurement2) |
irisl | 20:d40b6cba4280 | 242 | { |
irisl | 21:674fafb6301d | 243 | float error2; |
irisl | 21:674fafb6301d | 244 | float out_p2 = 0; |
irisl | 21:674fafb6301d | 245 | static float out_i2 = 0; |
irisl | 21:674fafb6301d | 246 | error2 = (setpoint2 - measurement2); |
irisl | 21:674fafb6301d | 247 | out_p2 = error2*K_P2; |
irisl | 21:674fafb6301d | 248 | out_i2 += error2*K_I2; |
irisl | 21:674fafb6301d | 249 | clamp(&out_i2,-I_LIMIT,I_LIMIT); |
irisl | 21:674fafb6301d | 250 | return out_p2 + out_i2; |
irisl | 21:674fafb6301d | 251 | } |
irisl | 28:c33a0658605e | 252 | |
irisl | 28:c33a0658605e | 253 | // Variabelen |
irisl | 21:674fafb6301d | 254 | float prev_setpoint1 = 0; |
irisl | 21:674fafb6301d | 255 | float setpoint1 = 0; |
irisl | 21:674fafb6301d | 256 | float prev_setpoint2 = 0; |
irisl | 21:674fafb6301d | 257 | float setpoint2 = 0; |
irisl | 21:674fafb6301d | 258 | |
irisl | 28:c33a0658605e | 259 | // Functies motoren |
irisl | 28:c33a0658605e | 260 | |
irisl | 28:c33a0658605e | 261 | // Motor1 links draaien |
irisl | 21:674fafb6301d | 262 | void batje_links () |
irisl | 21:674fafb6301d | 263 | { |
irisl | 21:674fafb6301d | 264 | speed1_rad = -1.0; //positief is CCW, negatief CW (boven aanzicht) |
jessekaiser | 29:d0dab8921e9d | 265 | setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; //bepalen van de setpoint |
jessekaiser | 29:d0dab8921e9d | 266 | if(setpoint1 > (11.3*2.3*2.0*PI/360)) { //Het eerste getal geeft een aantal graden weer, dus alleen dit hoeft aangepast te worden/ |
jessekaiser | 29:d0dab8921e9d | 267 | setpoint1 = (11.3*2.3*2.0*PI/360); //Hier wordt er een grens bepaald voor de hoek. |
irisl | 21:674fafb6301d | 268 | } |
irisl | 22:14f5161d7d7b | 269 | if(setpoint1 < -(11.3*2.3*2.0*PI/360)) { |
irisl | 22:14f5161d7d7b | 270 | setpoint1 = -(11.3*2.3*2.0*PI/360); |
irisl | 21:674fafb6301d | 271 | } |
irisl | 33:381bc6635528 | 272 | if(setpoint1 <= -((11.3*2.3*2.0*PI/360)-0.1)) { |
irisl | 21:674fafb6301d | 273 | staat1 = 1; |
jessekaiser | 29:d0dab8921e9d | 274 | prev_setpoint1 = setpoint1; |
irisl | 21:674fafb6301d | 275 | } |
irisl | 21:674fafb6301d | 276 | } |
jessekaiser | 29:d0dab8921e9d | 277 | // Motor1 rechts draaien |
irisl | 33:381bc6635528 | 278 | void batje_rechts () |
irisl | 33:381bc6635528 | 279 | { |
irisl | 33:381bc6635528 | 280 | speed1_rad = 1.0; |
irisl | 33:381bc6635528 | 281 | setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; |
irisl | 33:381bc6635528 | 282 | if(setpoint1 > (11.3*2.3*2.0*PI/360)) { |
irisl | 33:381bc6635528 | 283 | setpoint1 = (11.3*2.3*2.0*PI/360); |
jessekaiser | 29:d0dab8921e9d | 284 | } |
irisl | 33:381bc6635528 | 285 | if(setpoint1 < -(11.3*2.3*2.0*PI/360)) { |
irisl | 33:381bc6635528 | 286 | setpoint1 = -(11.3*2.3*2.0*PI/360); |
irisl | 33:381bc6635528 | 287 | } |
irisl | 33:381bc6635528 | 288 | prev_setpoint1 = setpoint1; |
irisl | 33:381bc6635528 | 289 | if(setpoint1 >= (11.3*2.3*2.0*PI/360)-0.1) { |
irisl | 33:381bc6635528 | 290 | staat1 = 1; |
irisl | 33:381bc6635528 | 291 | } |
irisl | 33:381bc6635528 | 292 | } |
jessekaiser | 29:d0dab8921e9d | 293 | |
jessekaiser | 29:d0dab8921e9d | 294 | //Motor1 na links draaien weer terug laten draaien naar beginstand |
irisl | 33:381bc6635528 | 295 | void batje_begin_links () |
irisl | 33:381bc6635528 | 296 | { |
irisl | 33:381bc6635528 | 297 | speed1_rad = 1.0; |
irisl | 33:381bc6635528 | 298 | setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; |
irisl | 33:381bc6635528 | 299 | if(setpoint1 > (0*2.3*2.0*PI/360)) { |
irisl | 33:381bc6635528 | 300 | setpoint1 = (0*2.3*2.0*PI/360); |
jessekaiser | 29:d0dab8921e9d | 301 | } |
irisl | 33:381bc6635528 | 302 | //if(setpoint1 < -(0*2.3*2.0*PI/360)) { |
irisl | 33:381bc6635528 | 303 | // setpoint1 = -(0*2.3*2.0*PI/360); |
irisl | 33:381bc6635528 | 304 | //} |
irisl | 33:381bc6635528 | 305 | prev_setpoint1 = setpoint1; |
irisl | 33:381bc6635528 | 306 | } |
jessekaiser | 29:d0dab8921e9d | 307 | |
jessekaiser | 29:d0dab8921e9d | 308 | //Motor1 na links draaien weer terug laten draaien naar beginstand |
irisl | 33:381bc6635528 | 309 | void batje_begin_rechts () |
irisl | 33:381bc6635528 | 310 | { |
irisl | 33:381bc6635528 | 311 | speed1_rad = -1.0; |
irisl | 33:381bc6635528 | 312 | setpoint1 = prev_setpoint1 + TSAMP * speed1_rad; |
irisl | 33:381bc6635528 | 313 | //if(setpoint1 > (0*2.3*2.0*PI/360)) { |
irisl | 33:381bc6635528 | 314 | // setpoint1 = (0*2.3*2.0*PI/360); |
irisl | 33:381bc6635528 | 315 | //} |
irisl | 33:381bc6635528 | 316 | if(setpoint1 < -(0.0*2.3*2.0*PI/360)) { |
irisl | 33:381bc6635528 | 317 | setpoint1 = -(0.0*2.3*2.0*PI/360); |
jessekaiser | 29:d0dab8921e9d | 318 | } |
irisl | 33:381bc6635528 | 319 | prev_setpoint1 = setpoint1; |
irisl | 33:381bc6635528 | 320 | } |
jessekaiser | 29:d0dab8921e9d | 321 | |
jessekaiser | 29:d0dab8921e9d | 322 | // Motor2 balletje op zn hoogst slaan |
irisl | 33:381bc6635528 | 323 | void arm_hoog () //LET OP, PAS VARIABELE NOG AAN DIT IS VOOR TESTEN |
irisl | 33:381bc6635528 | 324 | { |
irisl | 33:381bc6635528 | 325 | speed2_rad = -6.0; //positief is CCW, negatief CW (boven aanzicht) |
irisl | 34:7e0bf3e9f135 | 326 | //setpoint2 = -(120*2.0*PI/360); |
irisl | 34:7e0bf3e9f135 | 327 | setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; |
irisl | 34:7e0bf3e9f135 | 328 | if(setpoint2 > (140*2.0*PI/360)) { //setpoint in graden |
irisl | 34:7e0bf3e9f135 | 329 | setpoint2 = (120.0*2.0*PI/360); |
jessekaiser | 29:d0dab8921e9d | 330 | } |
irisl | 34:7e0bf3e9f135 | 331 | if(setpoint2 < -(140.0*2.0*PI/360)) { |
irisl | 34:7e0bf3e9f135 | 332 | setpoint2 = -(140.0*2.0*PI/360); |
irisl | 33:381bc6635528 | 333 | } |
irisl | 34:7e0bf3e9f135 | 334 | |
irisl | 33:381bc6635528 | 335 | prev_setpoint2 = setpoint2; |
irisl | 34:7e0bf3e9f135 | 336 | if(setpoint2 <= -((140.0*2.0*PI/360)-0.1)) { |
irisl | 33:381bc6635528 | 337 | staat2 = 1; |
irisl | 33:381bc6635528 | 338 | } |
irisl | 33:381bc6635528 | 339 | } |
jessekaiser | 29:d0dab8921e9d | 340 | |
jessekaiser | 29:d0dab8921e9d | 341 | // Motor2 balletje in het midden slaan |
irisl | 33:381bc6635528 | 342 | void arm_mid () |
irisl | 33:381bc6635528 | 343 | { |
irisl | 33:381bc6635528 | 344 | speed2_rad = -4.0; |
irisl | 33:381bc6635528 | 345 | setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; |
irisl | 34:7e0bf3e9f135 | 346 | if(setpoint2 > (140.0*2.0*PI/360)) { |
irisl | 33:381bc6635528 | 347 | setpoint2 = (155.0*2.0*PI/360); |
irisl | 33:381bc6635528 | 348 | } |
irisl | 34:7e0bf3e9f135 | 349 | if(setpoint2 < -(140.0*2.0*PI/360)) { |
irisl | 34:7e0bf3e9f135 | 350 | setpoint2 = -(140.0*2.0*PI/360); |
irisl | 33:381bc6635528 | 351 | } |
irisl | 33:381bc6635528 | 352 | prev_setpoint2 = setpoint2; |
irisl | 34:7e0bf3e9f135 | 353 | if(setpoint2 <= -((140.0*2.0*PI/360)-0.1)) { |
irisl | 33:381bc6635528 | 354 | staat2 = 1; |
irisl | 33:381bc6635528 | 355 | } |
irisl | 33:381bc6635528 | 356 | } |
irisl | 33:381bc6635528 | 357 | |
irisl | 33:381bc6635528 | 358 | // Motor2 balletje op het laagst slaan |
irisl | 33:381bc6635528 | 359 | void arm_laag () |
irisl | 33:381bc6635528 | 360 | { |
irisl | 33:381bc6635528 | 361 | speed2_rad = -2.0; |
irisl | 33:381bc6635528 | 362 | setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; |
irisl | 33:381bc6635528 | 363 | if(setpoint2 > (155*2.0*PI/360)) { |
irisl | 33:381bc6635528 | 364 | setpoint2 = (155*2.0*PI/360); |
irisl | 33:381bc6635528 | 365 | } |
irisl | 34:7e0bf3e9f135 | 366 | if(setpoint2 < -(140.0*2.0*PI/360)) { |
irisl | 34:7e0bf3e9f135 | 367 | setpoint2 = -(140.0*2.0*PI/360); |
irisl | 33:381bc6635528 | 368 | } |
irisl | 33:381bc6635528 | 369 | prev_setpoint2 = setpoint2; |
irisl | 34:7e0bf3e9f135 | 370 | if(setpoint2 <= ((140.0*2.0*PI/360)-0.1)) { |
irisl | 33:381bc6635528 | 371 | staat2 = 1; |
irisl | 33:381bc6635528 | 372 | } |
irisl | 33:381bc6635528 | 373 | } |
irisl | 33:381bc6635528 | 374 | |
irisl | 33:381bc6635528 | 375 | // Motor2 arm terug zetten in beginstand |
irisl | 33:381bc6635528 | 376 | void arm_begin () |
irisl | 33:381bc6635528 | 377 | { |
irisl | 33:381bc6635528 | 378 | speed2_rad = 1.0; //positief is CCW, negatief CW (boven aanzicht) |
irisl | 33:381bc6635528 | 379 | setpoint2 = prev_setpoint2 + TSAMP * speed2_rad; |
irisl | 33:381bc6635528 | 380 | if(setpoint2 > (0.0*2.0*PI/360)) { //setpoint in graden |
irisl | 33:381bc6635528 | 381 | setpoint2 = (0.0*2.0*PI/360); |
irisl | 33:381bc6635528 | 382 | } |
irisl | 33:381bc6635528 | 383 | //if(setpoint2 < -(0.0*2.0*PI/360)) { |
irisl | 33:381bc6635528 | 384 | // setpoint2 = -(0.0*2.0*PI/360); |
irisl | 33:381bc6635528 | 385 | //} |
irisl | 33:381bc6635528 | 386 | prev_setpoint2 = setpoint2; |
irisl | 33:381bc6635528 | 387 | } |
irisl | 33:381bc6635528 | 388 | |
irisl | 33:381bc6635528 | 389 | // MOTOR aansturing |
irisl | 33:381bc6635528 | 390 | void looper_motor() |
irisl | 33:381bc6635528 | 391 | { |
irisl | 33:381bc6635528 | 392 | pc.printf("%d, %f \r\n", motor1.getPosition(), motor2.getPosition()); //Geeft de posities weer van beide motoren met een sample frequentie van 0.005 |
irisl | 33:381bc6635528 | 393 | |
irisl | 33:381bc6635528 | 394 | //MOTOR1 |
irisl | 33:381bc6635528 | 395 | cur_pos_motor1 = motor1.getPosition(); |
irisl | 33:381bc6635528 | 396 | pos_motor1_rad = (float)cur_pos_motor1/(4128.0/(2.0*PI)); //voor 1 rotatie van de motoras geldt 24(aantal cpr vd encoder)*172(gearbox ratio)=4128 counts. |
irisl | 33:381bc6635528 | 397 | pwm_out1 = pid1(setpoint1, pos_motor1_rad); |
irisl | 33:381bc6635528 | 398 | if (pwm_out1 < -1.0) { //Hier wordt de grens voor de pwm waarde ingesteld. |
irisl | 33:381bc6635528 | 399 | pwm_out1 = -1.0; |
irisl | 33:381bc6635528 | 400 | } |
irisl | 33:381bc6635528 | 401 | if (pwm_out1 > 1.0) { |
irisl | 33:381bc6635528 | 402 | pwm_out1 = 1.0; |
irisl | 33:381bc6635528 | 403 | } |
irisl | 33:381bc6635528 | 404 | pwm_motor1.write(abs(pwm_out1)); |
irisl | 33:381bc6635528 | 405 | if(pwm_out1 > 0) { |
irisl | 33:381bc6635528 | 406 | motordir1 = 0; |
irisl | 33:381bc6635528 | 407 | } else { |
irisl | 33:381bc6635528 | 408 | motordir1 = 1; |
irisl | 33:381bc6635528 | 409 | } |
irisl | 33:381bc6635528 | 410 | |
irisl | 33:381bc6635528 | 411 | //MOTOR2 |
irisl | 33:381bc6635528 | 412 | cur_pos_motor2 = motor2.getPosition(); |
irisl | 33:381bc6635528 | 413 | pos_motor2_rad = (float)cur_pos_motor2/(3200.0/(2.0*PI)); |
irisl | 33:381bc6635528 | 414 | pwm_out2 = pid2(setpoint2, pos_motor2_rad); // |
irisl | 33:381bc6635528 | 415 | if (pwm_out2 < -1.0) { |
irisl | 33:381bc6635528 | 416 | pwm_out2 = -1.0; |
irisl | 33:381bc6635528 | 417 | } |
irisl | 33:381bc6635528 | 418 | if (pwm_out2 > 1.0) { |
irisl | 33:381bc6635528 | 419 | pwm_out2 = 1.0; |
irisl | 33:381bc6635528 | 420 | } |
irisl | 33:381bc6635528 | 421 | pwm_motor2.write(abs(pwm_out2)); |
irisl | 33:381bc6635528 | 422 | if(pwm_out2 > 0) { |
irisl | 33:381bc6635528 | 423 | motordir2 = 0; |
irisl | 33:381bc6635528 | 424 | } else { |
irisl | 33:381bc6635528 | 425 | motordir2 = 1; |
irisl | 33:381bc6635528 | 426 | } |
irisl | 33:381bc6635528 | 427 | |
irisl | 33:381bc6635528 | 428 | |
irisl | 33:381bc6635528 | 429 | //STATES |
irisl | 33:381bc6635528 | 430 | |
irisl | 33:381bc6635528 | 431 | //Het batje draait naar opgegeven positie, doet dan een bepaalde tijd niks (wait_iterator), en draait daarna weer terug |
irisl | 33:381bc6635528 | 432 | if (batje_hoek == 1) { |
irisl | 33:381bc6635528 | 433 | if(staat1 == 0) { |
irisl | 33:381bc6635528 | 434 | batje_rechts(); |
irisl | 33:381bc6635528 | 435 | wait_iterator1 = 0; |
irisl | 33:381bc6635528 | 436 | } else if(staat1 ==1) { |
irisl | 33:381bc6635528 | 437 | wait_iterator1++; |
irisl | 33:381bc6635528 | 438 | if(wait_iterator1 > 1200) { |
irisl | 33:381bc6635528 | 439 | staat1 = 2; |
irisl | 33:381bc6635528 | 440 | |
irisl | 33:381bc6635528 | 441 | batje_begin_rechts(); |
irisl | 33:381bc6635528 | 442 | } |
jessekaiser | 29:d0dab8921e9d | 443 | } |
jessekaiser | 29:d0dab8921e9d | 444 | } |
irisl | 33:381bc6635528 | 445 | if (batje_hoek == 2) { |
irisl | 33:381bc6635528 | 446 | if(staat1 == 0) { |
irisl | 33:381bc6635528 | 447 | batje_links(); |
irisl | 33:381bc6635528 | 448 | wait_iterator1 = 0; |
irisl | 33:381bc6635528 | 449 | } else if(staat1 ==1) { |
irisl | 33:381bc6635528 | 450 | wait_iterator1++; |
irisl | 33:381bc6635528 | 451 | if(wait_iterator1 > 1200) { |
irisl | 33:381bc6635528 | 452 | staat1 = 2; |
irisl | 21:674fafb6301d | 453 | |
irisl | 33:381bc6635528 | 454 | batje_begin_links (); |
irisl | 33:381bc6635528 | 455 | } |
jessekaiser | 29:d0dab8921e9d | 456 | } |
irisl | 21:674fafb6301d | 457 | } |
irisl | 21:674fafb6301d | 458 | |
irisl | 33:381bc6635528 | 459 | if(arm_hoogte == 1) { |
irisl | 33:381bc6635528 | 460 | if(staat2 == 0) { |
irisl | 33:381bc6635528 | 461 | arm_laag(); |
irisl | 33:381bc6635528 | 462 | wait_iterator2 = 0; |
irisl | 33:381bc6635528 | 463 | } else if(staat2 == 1) { |
irisl | 33:381bc6635528 | 464 | wait_iterator2++; |
irisl | 33:381bc6635528 | 465 | if(wait_iterator2 > 400) { |
irisl | 33:381bc6635528 | 466 | staat2 = 2; |
irisl | 33:381bc6635528 | 467 | |
irisl | 33:381bc6635528 | 468 | arm_begin(); |
irisl | 33:381bc6635528 | 469 | } |
jessekaiser | 29:d0dab8921e9d | 470 | } |
irisl | 33:381bc6635528 | 471 | } |
irisl | 33:381bc6635528 | 472 | if(arm_hoogte == 2) { |
irisl | 33:381bc6635528 | 473 | if(staat2 == 0) { |
irisl | 33:381bc6635528 | 474 | arm_mid(); |
irisl | 33:381bc6635528 | 475 | wait_iterator2 = 0; |
irisl | 33:381bc6635528 | 476 | } else if(staat2 == 1) { |
irisl | 33:381bc6635528 | 477 | wait_iterator2++; |
irisl | 33:381bc6635528 | 478 | if(wait_iterator2 > 400) { |
irisl | 33:381bc6635528 | 479 | staat2 = 2; |
irisl | 33:381bc6635528 | 480 | |
irisl | 33:381bc6635528 | 481 | arm_begin(); |
irisl | 33:381bc6635528 | 482 | } |
jessekaiser | 29:d0dab8921e9d | 483 | } |
irisl | 33:381bc6635528 | 484 | } |
irisl | 33:381bc6635528 | 485 | if(arm_hoogte == 3) { |
irisl | 33:381bc6635528 | 486 | if(staat2 == 0) { |
irisl | 33:381bc6635528 | 487 | arm_hoog(); |
irisl | 33:381bc6635528 | 488 | wait_iterator2 = 0; |
irisl | 33:381bc6635528 | 489 | } else if(staat2 == 1) { |
irisl | 33:381bc6635528 | 490 | wait_iterator2++; |
irisl | 33:381bc6635528 | 491 | if(wait_iterator2 > 400) { |
irisl | 33:381bc6635528 | 492 | staat2 = 2; |
irisl | 33:381bc6635528 | 493 | |
irisl | 33:381bc6635528 | 494 | arm_begin(); |
irisl | 33:381bc6635528 | 495 | } |
irisl | 33:381bc6635528 | 496 | } |
irisl | 21:674fafb6301d | 497 | } |
irisl | 21:674fafb6301d | 498 | |
irisl | 33:381bc6635528 | 499 | } |
irisl | 21:674fafb6301d | 500 | |
irisl | 21:674fafb6301d | 501 | |
jessekaiser | 29:d0dab8921e9d | 502 | // Hoofdprogramma, hierin staat de aansturing vd LED |
irisl | 33:381bc6635528 | 503 | int main() |
irisl | 33:381bc6635528 | 504 | { |
irisl | 28:c33a0658605e | 505 | |
irisl | 33:381bc6635528 | 506 | pwm_motor1.period_us(100); |
irisl | 33:381bc6635528 | 507 | motor1.setPosition(0); |
irisl | 33:381bc6635528 | 508 | pwm_motor2.period_us(100); |
irisl | 33:381bc6635528 | 509 | motor2.setPosition(0); |
irisl | 33:381bc6635528 | 510 | pc.baud(115200); |
irisl | 33:381bc6635528 | 511 | // Ticker EMG signaal meten |
irisl | 33:381bc6635528 | 512 | Ticker log_timer; |
irisl | 33:381bc6635528 | 513 | //set up filters. Use external array for constants |
irisl | 33:381bc6635528 | 514 | arm_biquad_cascade_df1_init_f32(&lowpass_biceps,1 , lowpass_const, lowpass_biceps_states); |
irisl | 33:381bc6635528 | 515 | arm_biquad_cascade_df1_init_f32(&lowpass_deltoid,1 , lowpass_const, lowpass_deltoid_states); |
irisl | 33:381bc6635528 | 516 | arm_biquad_cascade_df1_init_f32(&highnotch_biceps,2 ,highnotch_const,highnotch_biceps_states); |
irisl | 33:381bc6635528 | 517 | arm_biquad_cascade_df1_init_f32(&highnotch_deltoid,2 ,highnotch_const,highnotch_deltoid_states); |
irisl | 33:381bc6635528 | 518 | // Uitvoeren van ticker EMG, sample frequentie 500Hz |
irisl | 33:381bc6635528 | 519 | log_timer.attach(looper, 0.002); |
irisl | 28:c33a0658605e | 520 | |
irisl | 33:381bc6635528 | 521 | // Aanroepen van motoraansturing in motor ticker |
irisl | 33:381bc6635528 | 522 | Ticker looptimer; |
irisl | 33:381bc6635528 | 523 | looptimer.attach(looper_motor,TSAMP); |
irisl | 33:381bc6635528 | 524 | |
irisl | 33:381bc6635528 | 525 | while(1) { |
jessekaiser | 6:8f4138a811e0 | 526 | |
irisl | 13:493a953a2a85 | 527 | while(1) { |
irisl | 33:381bc6635528 | 528 | pc.printf("Span de biceps aan om het instellen te starten.\n"); |
irisl | 33:381bc6635528 | 529 | do { |
irisl | 33:381bc6635528 | 530 | ShineRed(); |
irisl | 33:381bc6635528 | 531 | } while(filtered_average_bi < 0.05 && filtered_average_del <0.05); // In rust, geen meting |
irisl | 33:381bc6635528 | 532 | if (filtered_average_bi > 0.05) { // Beginnen met meting wanneer biceps wordt aangespannen |
irisl | 33:381bc6635528 | 533 | BlinkRed(10); // 2 seconden rood knipperen, geen signaal verwerking |
irisl | 33:381bc6635528 | 534 | BlinkGreen(); // groen knipperen, meten van spieraanspanning |
irisl | 33:381bc6635528 | 535 | while (1) { // eerste loop, keuze voor de positie van het batje |
irisl | 33:381bc6635528 | 536 | pc.printf("In de loop.\n"); |
irisl | 33:381bc6635528 | 537 | if (filtered_average_bi > 0.05 && filtered_average_del > 0.045) { //bi en del aangespannen --> batje in het midden |
irisl | 33:381bc6635528 | 538 | stopblinkgreen(); |
irisl | 33:381bc6635528 | 539 | pc.printf("ShineGreen.\n"); |
irisl | 33:381bc6635528 | 540 | ShineGreen(); |
irisl | 33:381bc6635528 | 541 | wait (4); |
irisl | 33:381bc6635528 | 542 | break; |
irisl | 18:ed2afe6953de | 543 | } |
irisl | 33:381bc6635528 | 544 | if (filtered_average_bi < 0.05 && filtered_average_del > 0.045) { // del aanspannen --> batje naar links |
irisl | 33:381bc6635528 | 545 | stopblinkgreen(); |
irisl | 33:381bc6635528 | 546 | pc.printf("ShineBlue.\n"); |
irisl | 33:381bc6635528 | 547 | ShineBlue(); |
irisl | 33:381bc6635528 | 548 | batje_hoek = 2; |
irisl | 33:381bc6635528 | 549 | wait(4); |
irisl | 33:381bc6635528 | 550 | break; |
irisl | 33:381bc6635528 | 551 | } else if (filtered_average_bi > 0.05 && filtered_average_del < 0.045) { // bi aanspannen --> batje naar rechts |
irisl | 33:381bc6635528 | 552 | stopblinkgreen(); |
irisl | 33:381bc6635528 | 553 | pc.printf("ShineRed.\n"); |
irisl | 33:381bc6635528 | 554 | ShineRed(); |
irisl | 33:381bc6635528 | 555 | batje_hoek = 1; |
irisl | 33:381bc6635528 | 556 | wait (4); |
irisl | 33:381bc6635528 | 557 | break; |
irisl | 18:ed2afe6953de | 558 | } |
irisl | 33:381bc6635528 | 559 | } |
irisl | 33:381bc6635528 | 560 | BlinkGreen(); |
irisl | 33:381bc6635528 | 561 | while (1) { // loop voor het instellen van de kracht |
irisl | 33:381bc6635528 | 562 | pc.printf("In de loop.\n"); |
irisl | 33:381bc6635528 | 563 | if (filtered_average_bi > 0.05 && filtered_average_del > 0.045) { // bi en del aanspannen --> hoog slaan |
irisl | 33:381bc6635528 | 564 | stopblinkgreen(); |
irisl | 33:381bc6635528 | 565 | pc.printf("ShineGreen.\n"); |
irisl | 33:381bc6635528 | 566 | ShineGreen(); |
irisl | 33:381bc6635528 | 567 | arm_hoogte = 3; |
irisl | 33:381bc6635528 | 568 | wait (4); |
irisl | 33:381bc6635528 | 569 | break; |
irisl | 33:381bc6635528 | 570 | } |
irisl | 33:381bc6635528 | 571 | if (filtered_average_bi < 0.05 && filtered_average_del > 0.045) { // del aanspannen --> laag slaan |
irisl | 33:381bc6635528 | 572 | stopblinkgreen(); |
irisl | 33:381bc6635528 | 573 | pc.printf("ShineBlue.\n"); |
irisl | 33:381bc6635528 | 574 | ShineBlue(); |
irisl | 33:381bc6635528 | 575 | arm_hoogte = 1; |
irisl | 33:381bc6635528 | 576 | wait(4); |
irisl | 33:381bc6635528 | 577 | break; |
irisl | 33:381bc6635528 | 578 | } else if (filtered_average_bi > 0.05 && filtered_average_del < 0.045) { // bi aanspannen --> midden slaan |
irisl | 33:381bc6635528 | 579 | stopblinkgreen(); |
irisl | 33:381bc6635528 | 580 | pc.printf("ShineRed.\n"); |
irisl | 33:381bc6635528 | 581 | ShineRed(); |
irisl | 33:381bc6635528 | 582 | arm_hoogte = 2; |
irisl | 33:381bc6635528 | 583 | wait (4); |
irisl | 33:381bc6635528 | 584 | break; |
irisl | 33:381bc6635528 | 585 | } |
irisl | 19:1bd2fc3bce1e | 586 | } |
irisl | 26:9859a71456fd | 587 | |
irisl | 14:257026c95f22 | 588 | } |
irisl | 33:381bc6635528 | 589 | |
jessekaiser | 0:db396b9f4b4c | 590 | } |
irisl | 33:381bc6635528 | 591 | } |
irisl | 33:381bc6635528 | 592 | } |